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346 lines
9.9 KiB
346 lines
9.9 KiB
/////////////////////////////////////////////////////////////////////////////////// |
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/// OpenGL Mathematics (glm.g-truc.net) |
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/// |
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/// Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net) |
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/// Permission is hereby granted, free of charge, to any person obtaining a copy |
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/// of this software and associated documentation files (the "Software"), to deal |
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/// in the Software without restriction, including without limitation the rights |
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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/// copies of the Software, and to permit persons to whom the Software is |
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/// furnished to do so, subject to the following conditions: |
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/// |
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/// The above copyright notice and this permission notice shall be included in |
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/// all copies or substantial portions of the Software. |
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/// |
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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/// THE SOFTWARE. |
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/// |
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/// @ref gtc_quaternion |
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/// @file glm/gtc/quaternion.hpp |
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/// @date 2009-05-21 / 2012-12-20 |
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/// @author Christophe Riccio |
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/// |
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/// @see core (dependence) |
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/// @see gtc_half_float (dependence) |
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/// @see gtc_constants (dependence) |
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/// |
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/// @defgroup gtc_quaternion GLM_GTC_quaternion |
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/// @ingroup gtc |
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/// |
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/// @brief Defines a templated quaternion type and several quaternion operations. |
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/// |
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/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities. |
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/////////////////////////////////////////////////////////////////////////////////// |
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#ifndef GLM_GTC_quaternion |
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#define GLM_GTC_quaternion GLM_VERSION |
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// Dependency: |
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#include "../glm.hpp" |
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#include "../gtc/half_float.hpp" |
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#include "../gtc/constants.hpp" |
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#if(defined(GLM_MESSAGES) && !defined(glm_ext)) |
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# pragma message("GLM: GLM_GTC_quaternion extension included") |
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#endif |
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namespace glm{ |
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namespace detail |
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{ |
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template <typename T> |
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struct tquat// : public genType<T, tquat> |
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{ |
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enum ctor{null}; |
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typedef T value_type; |
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typedef std::size_t size_type; |
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public: |
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value_type x, y, z, w; |
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GLM_FUNC_DECL size_type length() const; |
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// Constructors |
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tquat(); |
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explicit tquat( |
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value_type const & s, |
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glm::detail::tvec3<T> const & v); |
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explicit tquat( |
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value_type const & w, |
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value_type const & x, |
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value_type const & y, |
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value_type const & z); |
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// Convertions |
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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians. |
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explicit tquat( |
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tvec3<T> const & eulerAngles); |
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explicit tquat( |
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tmat3x3<T> const & m); |
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explicit tquat( |
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tmat4x4<T> const & m); |
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// Accesses |
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value_type & operator[](int i); |
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value_type const & operator[](int i) const; |
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// Operators |
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tquat<T> & operator*=(value_type const & s); |
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tquat<T> & operator/=(value_type const & s); |
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}; |
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template <typename T> |
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detail::tquat<T> operator- ( |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator+ ( |
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detail::tquat<T> const & q, |
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detail::tquat<T> const & p); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tquat<T> const & p); |
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template <typename T> |
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detail::tvec3<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tvec3<T> const & v); |
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template <typename T> |
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detail::tvec3<T> operator* ( |
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detail::tvec3<T> const & v, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tvec4<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tvec4<T> const & v); |
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template <typename T> |
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detail::tvec4<T> operator* ( |
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detail::tvec4<T> const & v, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & s); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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typename detail::tquat<T>::value_type const & s, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator/ ( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & s); |
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} //namespace detail |
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/// @addtogroup gtc_quaternion |
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/// @{ |
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/// Returns the length of the quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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T length( |
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detail::tquat<T> const & q); |
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/// Returns the normalized quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> normalize( |
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detail::tquat<T> const & q); |
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/// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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T dot( |
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detail::tquat<T> const & q1, |
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detail::tquat<T> const & q2); |
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/// Spherical linear interpolation of two quaternions. |
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/// The interpolation is oriented and the rotation is performed at constant speed. |
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/// For short path spherical linear interpolation, use the slerp function. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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/// @see - slerp(detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a) |
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template <typename T> |
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detail::tquat<T> mix( |
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detail::tquat<T> const & x, |
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detail::tquat<T> const & y, |
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T const & a); |
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/// Linear interpolation of two quaternions. |
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/// The interpolation is oriented. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> lerp( |
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detail::tquat<T> const & x, |
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detail::tquat<T> const & y, |
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T const & a); |
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/// Spherical linear interpolation of two quaternions. |
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/// The interpolation always take the short path and the rotation is performed at constant speed. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> slerp( |
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detail::tquat<T> const & x, |
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detail::tquat<T> const & y, |
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T const & a); |
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/// Returns the q conjugate. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> conjugate( |
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detail::tquat<T> const & q); |
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/// Returns the q inverse. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> inverse( |
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detail::tquat<T> const & q); |
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/// Rotates a quaternion from a vector of 3 components axis and an angle. |
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/// |
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/// @param q Source orientation |
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/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// @param axis Axis of the rotation |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> rotate( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & angle, |
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detail::tvec3<T> const & axis); |
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/// Returns euler angles, yitch as x, yaw as y, roll as z. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tvec3<T> eulerAngles( |
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detail::tquat<T> const & x); |
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/// Returns roll value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// |
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/// @see gtx_quaternion |
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template <typename valType> |
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valType roll( |
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detail::tquat<valType> const & x); |
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/// Returns pitch value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// |
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/// @see gtx_quaternion |
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template <typename valType> |
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valType pitch( |
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detail::tquat<valType> const & x); |
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/// Returns yaw value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// |
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/// @see gtx_quaternion |
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template <typename valType> |
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valType yaw( |
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detail::tquat<valType> const & x); |
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/// Converts a quaternion to a 3 * 3 matrix. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tmat3x3<T> mat3_cast( |
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detail::tquat<T> const & x); |
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/// Converts a quaternion to a 4 * 4 matrix. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tmat4x4<T> mat4_cast( |
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detail::tquat<T> const & x); |
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/// Converts a 3 * 3 matrix to a quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> quat_cast( |
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detail::tmat3x3<T> const & x); |
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/// Converts a 4 * 4 matrix to a quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T> |
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detail::tquat<T> quat_cast( |
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detail::tmat4x4<T> const & x); |
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/// Returns the quaternion rotation angle. |
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/// |
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/// @see gtc_quaternion |
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template <typename valType> |
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valType angle( |
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detail::tquat<valType> const & x); |
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/// Returns the q rotation axis. |
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/// |
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/// @see gtc_quaternion |
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template <typename valType> |
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detail::tvec3<valType> axis( |
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detail::tquat<valType> const & x); |
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/// Build a quaternion from an angle and a normalized axis. |
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/// |
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/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// @param x x component of the x-axis, x, y, z must be a normalized axis |
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/// @param y y component of the y-axis, x, y, z must be a normalized axis |
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/// @param z z component of the z-axis, x, y, z must be a normalized axis |
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/// |
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/// @see gtc_quaternion |
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template <typename valType> |
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detail::tquat<valType> angleAxis( |
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valType const & angle, |
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valType const & x, |
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valType const & y, |
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valType const & z); |
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/// Build a quaternion from an angle and a normalized axis. |
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/// |
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/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise. |
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/// @param axis Axis of the quaternion, must be normalized. |
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/// |
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/// @see gtc_quaternion |
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template <typename valType> |
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detail::tquat<valType> angleAxis( |
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valType const & angle, |
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detail::tvec3<valType> const & axis); |
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/// @} |
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} //namespace glm |
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#include "quaternion.inl" |
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#endif//GLM_GTC_quaternion
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